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xinge008 / Cylinder3D

Rank 1st in the leaderboard of SemanticKITTI semantic segmentation (both single-scan and multi-scan) (Nov. 2020) (CVPR2021 Oral)
Apache License 2.0
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polar2cat function have a bug? #140

Closed chuifengsimida closed 2 years ago

chuifengsimida commented 2 years ago

https://github.com/xinge008/Cylinder3D/blob/fbef960c55a00fdf5e06f6083c93bc25be08153c/dataloader/dataset_semantickitti.py#L136

def polar2cat(input_xyz_polar):
    # print(input_xyz_polar.shape)
    x = input_xyz_polar[0] * np.cos(input_xyz_polar[1])
    y = input_xyz_polar[0] * np.sin(input_xyz_polar[1])
    return np.stack((x, y, input_xyz_polar[2]), axis=0)

I can't understand the code of this function, maybe I'm too stupid, or a mistake? replace [inded] with [:, index]?